Algorithms for Scheduling Imprecise Computations
Computer - Special issue on real-time systems
Digital image processing
The design and performance of a real-time CORBA event service
Proceedings of the 12th ACM SIGPLAN conference on Object-oriented programming, systems, languages, and applications
A feedback-driven proportion allocator for real-rate scheduling
OSDI '99 Proceedings of the third symposium on Operating systems design and implementation
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
QoS Negotiation in Real-Time Systems and Its Application to Automated Flight Control
IEEE Transactions on Computers
The Design and Performance of a Real-Time CORBA SchedulingService
Real-Time Systems - Special issue on challenges in design and implementation of middlewares for real time systems
The case for reflective middleware
Communications of the ACM - Adaptive middleware
Feedback–Feedforward Scheduling of Control Tasks
Real-Time Systems
Adaptive Workload Management through Elastic Scheduling
Real-Time Systems
Feedback Control Real-Time Scheduling in ORB Middleware
RTAS '03 Proceedings of the The 9th IEEE Real-Time and Embedded Technology and Applications Symposium
On task schedulability in real-time control systems
RTSS '96 Proceedings of the 17th IEEE Real-Time Systems Symposium
On adaptive resource allocation for complex real-time applications
RTSS '97 Proceedings of the 18th IEEE Real-Time Systems Symposium
A Dynamic Quality of Service Middleware Agent for Mediating Application Resource Usage
RTSS '98 Proceedings of the IEEE Real-Time Systems Symposium
A Scalable Solution to the Multi-Resource QoS Problem
RTSS '99 Proceedings of the 20th IEEE Real-Time Systems Symposium
Analysis of a Reservation-Based Feedback Scheduler
RTSS '02 Proceedings of the 23rd IEEE Real-Time Systems Symposium
ControlWare: A Middleware Architecture for Feedback Control of Software Performance
ICDCS '02 Proceedings of the 22 nd International Conference on Distributed Computing Systems (ICDCS'02)
ICDCS '01 Proceedings of the The 21st International Conference on Distributed Computing Systems
Towards Highly Configurable Real-time Object Request Brokers
ISORC '02 Proceedings of the Fifth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing
Feedback Control Scheduling in Distributed Real-Time Systems
RTSS '01 Proceedings of the 22nd IEEE Real-Time Systems Symposium
A Hybrid Control Design for QoS Management
RTSS '03 Proceedings of the 24th IEEE International Real-Time Systems Symposium
End-to-End Utilization Control in Distributed Real-Time Systems
ICDCS '04 Proceedings of the 24th International Conference on Distributed Computing Systems (ICDCS'04)
Middleware Specialization for Memory-Constrained Networked Embedded Systems
RTAS '04 Proceedings of the 10th IEEE Real-Time and Embedded Technology and Applications Symposium
RTAS '04 Proceedings of the 10th IEEE Real-Time and Embedded Technology and Applications Symposium
Hybrid Supervisory Utilization Control of Real-Time Systems
RTAS '05 Proceedings of the 11th IEEE Real Time on Embedded Technology and Applications Symposium
FC-ORB: A robust distributed real-time embedded middleware with end-to-end utilization control
Journal of Systems and Software
ICAC '07 Proceedings of the Fourth International Conference on Autonomic Computing
DEUCON: Decentralized End-to-End Utilization Control for Distributed Real-Time Systems
IEEE Transactions on Parallel and Distributed Systems
A control-based middleware framework for quality-of-service adaptations
IEEE Journal on Selected Areas in Communications
A novel framework for scheduling distributed tasks
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
Robust fuzzy CPU utilization control for dynamic workloads
Journal of Systems and Software
A framework with proactive nodes for scheduling and optimizing distributed embedded systems
EUNICE'10 Proceedings of the 16th EUNICE/IFIP WG 6.6 conference on Networked services and applications: engineering, control and management
A time-triggered middleware architecture for ubiquitous cyber physical system applications
UCAmI'12 Proceedings of the 6th international conference on Ubiquitous Computing and Ambient Intelligence
A flexible time-triggered service for real-time CORBA
Computer Standards & Interfaces
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Object Request Broker (ORB) middleware has shown promise in meeting the functional and real-time performance requirements of distributed real-time and embedded (DRE) systems. However, existing real-time ORB middleware standards such as RT-CORBA do not adequately address the challenges of (1) managing unpredictable workload, and (2) providing robust performance guarantees portably across different platforms. To overcome this limitation, we have developed software called FCS/nORB that integrates a Feedback Control real-time Scheduling (FCS) service with the nORB small-footprint real-time ORB designed for networked embedded systems. FCS/nORB features feedback control loops that provide real-time performance guarantees by automatically adjusting the rate of remote method invocations transparently to an application. FCS/nORB thus enables real-time applications to be truly portable in terms of real-time performance as well as functionality, without the need for hand tuning. This paper presents the design, implementation, and empirical evaluation of FCS/nORB. Our extensive experiments on a Linux testbed demonstrate that FCS/nORB can provide deadline miss ratio and utilization guarantees in the face of changes in platform and task execution times, while introducing only a small amount of overhead.